Exposing Spoofing Attack on Flocking-Based Unmanned Aerial Vehicle Cluster: A Threat to Swarm Intelligence

Table 6

Average delay increment for 7-UAV clusters at a speed of 10–20 m/s and with R of 12–20 m.

Threshold R (m)	V = 10 m/s (%)	V = 12 m/s (%)	V = 14 m/s (%)	V = 16 m/s (%)	V = 18 m/s (%)	V = 20 m/s (%)
12	28.46	30.70	32.11	31.25	37.35	40.30
14	19.84	21.36	26.84	25.00	31.43	28.48
16	14.57	18.90	19.10	15.29	20.00	24.65
18	10.37	11.96	13.22	15.19	20.59	10.63
20	10.73	7.78	11.75	8.44	11.76	7.46